from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='winch_ctrl',
            executable='winch_ctrl',
            name='winch_ctrl',
            output='screen',
            parameters=[
                {'controller_freq': 200.0},
                {'MANUAL_SPEED': 1.0},
                {'accleration': 0.2},
                {'set_length_speed': 1.0},
                {'max_velocity': 1.0},
                {'min_velocity': 0.2},
                {'hold_speed': 0.135},
                {'critical_d_torque': -0.5},
                {'precise_zero_step_min': 0.01},
                {'precise_zero_step_max': 0.030}
            ]
)
    ])

if __name__ == '__main__':
    generate_launch_description()
